From: Hari Nagalla hnagalla@ti.com

Some K3 devices like AM64, AM62 devices have a M4 processor in MCU voltage domain.

Add a remote proc driver to support this subsystem to be able to load and boot the M4 core.

Signed-off-by: Hari Nagalla hnagalla@ti.com [Judith: Fixed comments explaining local resets] Signed-off-by: Judith Mendez jm@ti.com --- drivers/remoteproc/Kconfig | 10 + drivers/remoteproc/Makefile | 1 + drivers/remoteproc/ti_k3_m4_rproc.c | 411 ++++++++++++++++++++++++++++ 3 files changed, 422 insertions(+) create mode 100644 drivers/remoteproc/ti_k3_m4_rproc.c

diff --git a/drivers/remoteproc/Kconfig b/drivers/remoteproc/Kconfig index 2790b168b19..e579c4e8371 100644 --- a/drivers/remoteproc/Kconfig +++ b/drivers/remoteproc/Kconfig @@ -80,6 +80,16 @@ config REMOTEPROC_TI_K3_R5F on various TI K3 family of SoCs through the remote processor framework.

+config REMOTEPROC_TI_K3_M4F + bool "TI K3 M4F remoteproc support" + select REMOTEPROC + depends on ARCH_K3 + depends on TI_SCI_PROTOCOL + help + Say y here to support TI's M4F remote processor subsystems + on various TI K3 family of SoCs through the remote processor + framework. + config REMOTEPROC_TI_POWER bool "Support for TI Power processor" select REMOTEPROC diff --git a/drivers/remoteproc/Makefile b/drivers/remoteproc/Makefile index 3a092b7660e..f81e5009c5e 100644 --- a/drivers/remoteproc/Makefile +++ b/drivers/remoteproc/Makefile @@ -13,6 +13,7 @@ obj-$(CONFIG_REMOTEPROC_SANDBOX) += sandbox_testproc.o obj-$(CONFIG_REMOTEPROC_STM32_COPRO) += stm32_copro.o obj-$(CONFIG_REMOTEPROC_TI_K3_ARM64) += ti_k3_arm64_rproc.o obj-$(CONFIG_REMOTEPROC_TI_K3_DSP) += ti_k3_dsp_rproc.o +obj-$(CONFIG_REMOTEPROC_TI_K3_M4F) += ti_k3_m4_rproc.o obj-$(CONFIG_REMOTEPROC_TI_K3_R5F) += ti_k3_r5f_rproc.o obj-$(CONFIG_REMOTEPROC_TI_POWER) += ti_power_proc.o obj-$(CONFIG_REMOTEPROC_TI_PRU) += pru_rproc.o diff --git a/drivers/remoteproc/ti_k3_m4_rproc.c b/drivers/remoteproc/ti_k3_m4_rproc.c new file mode 100644 index 00000000000..5a5ae2fa81d --- /dev/null +++ b/drivers/remoteproc/ti_k3_m4_rproc.c @@ -0,0 +1,411 @@ +// SPDX-License-Identifier: GPL-2.0+ +/* + * Texas Instruments' K3 M4 Remoteproc driver + * + * Copyright (C) 2024 Texas Instruments Incorporated - http://www.ti.com/ + * Hari Nagalla hnagalla@ti.com + */ + +#include <dm.h> +#include <log.h> +#include <malloc.h> +#include <remoteproc.h> +#include <errno.h> +#include <clk.h> +#include <reset.h> +#include <asm/io.h> +#include <power-domain.h> +#include <dm/device_compat.h> +#include <linux/err.h> +#include <linux/sizes.h> +#include <linux/soc/ti/ti_sci_protocol.h> +#include "ti_sci_proc.h" + +/** + * struct k3_m4_mem - internal memory structure + * @cpu_addr: MPU virtual address of the memory region + * @bus_addr: Bus address used to access the memory region + * @dev_addr: Device address from remoteproc view + * @size: Size of the memory region + */ +struct k3_m4_mem { + void __iomem *cpu_addr; + phys_addr_t bus_addr; + phys_addr_t dev_addr; + size_t size; +}; + +/** + * struct k3_m4_mem_data - memory definitions for m4 remote core + * @name: name for this memory entry + * @dev_addr: device address for the memory entry + */ +struct k3_m4_mem_data { + const char *name; + const u32 dev_addr; +}; + +/** + * struct k3_m4_boot_data - internal data structure used for boot + * @boot_align_addr: Boot vector address alignment granularity + * @uses_lreset: Flag to denote the need for local reset management + */ +struct k3_m4_boot_data { + u32 boot_align_addr; + bool uses_lreset; +}; + +/** + * struct k3_m4_privdata - Structure representing Remote processor data. + * @m4_rst: m4 rproc reset control data + * @tsp: Pointer to TISCI proc contrl handle + * @data: Pointer to DSP specific boot data structure + * @mem: Array of available memories + * @num_mem: Number of available memories + */ +struct k3_m4_privdata { + struct reset_ctl m4_rst; + struct ti_sci_proc tsp; + struct k3_m4_boot_data *data; + struct k3_m4_mem *mem; + int num_mems; +}; + +/* + * The M4 cores have a local reset that affects only the CPU, and a + * generic module reset that powers on the device and allows the M4 internal + * memories to be accessed while the local reset is asserted. This function is + * used to release the global reset on M4F to allow loading into the M4F + * internal RAMs. This helper function is invoked in k3_m4_load() before any + * actual firmware loading and is undone only in k3_m4_stop(). The local reset + * cannot be released on M4 cores until after the firmware images are loaded. + */ +static int k3_m4_prepare(struct udevice *dev) +{ + struct k3_m4_privdata *m4 = dev_get_priv(dev); + struct k3_m4_boot_data *data = m4->data; + int ret; + + if (!data->uses_lreset) + return 0; + + ret = ti_sci_proc_power_domain_on(&m4->tsp); + if (ret) + dev_err(dev, "cannot enable internal RAM loading, ret = %d\n", + ret); + + return ret; +} + +/* + * This function is the counterpart to k3_m4_prepare() and is used to assert + * the global reset on M4 cores. This completes the second step of powering + * down the M4 cores. The cores themselves are halted through the local reset + * in first step. This function is invoked in k3_m4_stop() after the local + * reset is asserted. + */ +static int k3_m4_unprepare(struct udevice *dev) +{ + struct k3_m4_privdata *m4 = dev_get_priv(dev); + struct k3_m4_boot_data *data = m4->data; + + if (!data->uses_lreset) + return 0; + + return ti_sci_proc_power_domain_off(&m4->tsp); +} + +/** + * k3_m4_load() - Load up the Remote processor image + * @dev: rproc device pointer + * @addr: Address at which image is available + * @size: size of the image + * + * Return: 0 if all goes good, else appropriate error message. + */ +static int k3_m4_load(struct udevice *dev, ulong addr, ulong size) +{ + struct k3_m4_privdata *m4 = dev_get_priv(dev); + void *image_addr = (void *)addr; + int ret; + + ret = ti_sci_proc_request(&m4->tsp); + if (ret) + return ret; + + ret = k3_m4_prepare(dev); + if (ret) { + dev_err(dev, "Prepare failed for core %d\n", + m4->tsp.proc_id); + goto proc_release; + } + + ti_secure_image_post_process(&image_addr, &size); + + ret = rproc_elf_load_image(dev, addr, size); + if (ret < 0) { + dev_err(dev, "Loading elf failed %d\n", ret); + goto unprepare; + } + +unprepare: + if (ret) + k3_m4_unprepare(dev); +proc_release: + ti_sci_proc_release(&m4->tsp); + return ret; +} + +/** + * k3_m4_start() - Start the remote processor + * @dev: rproc device pointer + * + * Return: 0 if all went ok, else return appropriate error + */ +static int k3_m4_start(struct udevice *dev) +{ + struct k3_m4_privdata *m4 = dev_get_priv(dev); + struct k3_m4_boot_data *data = m4->data; + int ret; + + ret = ti_sci_proc_request(&m4->tsp); + if (ret) + return ret; + + if (!data->uses_lreset) { + ret = ti_sci_proc_power_domain_on(&m4->tsp); + if (ret) + goto proc_release; + } + + ret = reset_deassert(&m4->m4_rst); + if (ret) { + if (!data->uses_lreset) + ti_sci_proc_power_domain_off(&m4->tsp); + } + +proc_release: + ti_sci_proc_release(&m4->tsp); + + return ret; +} + +static int k3_m4_stop(struct udevice *dev) +{ + struct k3_m4_privdata *m4 = dev_get_priv(dev); + + ti_sci_proc_request(&m4->tsp); + reset_assert(&m4->m4_rst); + ti_sci_proc_power_domain_off(&m4->tsp); + ti_sci_proc_release(&m4->tsp); + + return 0; +} + +/** + * k3_m4_init() - Initialize the remote processor + * @dev: rproc device pointer + * + * Return: 0 if all went ok, else return appropriate error + */ +static int k3_m4_init(struct udevice *dev) +{ + return 0; +} + +static int k3_m4_reset(struct udevice *dev) +{ + return 0; +} + +static void *k3_m4_da_to_va(struct udevice *dev, ulong da, ulong len) +{ + struct k3_m4_privdata *m4 = dev_get_priv(dev); + phys_addr_t bus_addr, dev_addr; + void __iomem *va = NULL; + size_t size; + u32 offset; + int i; + + if (len <= 0) + return NULL; + + for (i = 0; i < m4->num_mems; i++) { + bus_addr = m4->mem[i].bus_addr; + dev_addr = m4->mem[i].dev_addr; + size = m4->mem[i].size; + + if (da >= dev_addr && ((da + len) <= (dev_addr + size))) { + offset = da - dev_addr; + va = m4->mem[i].cpu_addr + offset; + return (__force void *)va; + } + + if (da >= bus_addr && (da + len) <= (bus_addr + size)) { + offset = da - bus_addr; + va = m4->mem[i].cpu_addr + offset; + return (__force void *)va; + } + } + + /* Assume it is DDR region and return da */ + return map_physmem(da, len, MAP_NOCACHE); +} + +static const struct dm_rproc_ops k3_m4_ops = { + .init = k3_m4_init, + .load = k3_m4_load, + .start = k3_m4_start, + .stop = k3_m4_stop, + .reset = k3_m4_reset, + .device_to_virt = k3_m4_da_to_va, +}; + +static int ti_sci_proc_of_to_priv(struct udevice *dev, struct ti_sci_proc *tsp) +{ + u32 ids[2]; + int ret; + + tsp->sci = ti_sci_get_by_phandle(dev, "ti,sci"); + if (IS_ERR(tsp->sci)) { + dev_err(dev, "ti_sci get failed: %ld\n", PTR_ERR(tsp->sci)); + return PTR_ERR(tsp->sci); + } + + ret = dev_read_u32_array(dev, "ti,sci-proc-ids", ids, 2); + if (ret) { + dev_err(dev, "Proc IDs not populated %d\n", ret); + return ret; + } + + tsp->ops = &tsp->sci->ops.proc_ops; + tsp->proc_id = ids[0]; + tsp->host_id = ids[1]; + tsp->dev_id = dev_read_u32_default(dev, "ti,sci-dev-id", + TI_SCI_RESOURCE_NULL); + if (tsp->dev_id == TI_SCI_RESOURCE_NULL) { + dev_err(dev, "Device ID not populated %d\n", ret); + return -ENODEV; + } + + return 0; +} + +static const struct k3_m4_mem_data am6_m4_mems[] = { + { .name = "iram", .dev_addr = 0x0 }, + { .name = "dram", .dev_addr = 0x30000 }, +}; + +static int k3_m4_of_get_memories(struct udevice *dev) +{ + struct k3_m4_privdata *m4 = dev_get_priv(dev); + int i; + + m4->num_mems = ARRAY_SIZE(am6_m4_mems); + m4->mem = calloc(m4->num_mems, sizeof(*m4->mem)); + if (!m4->mem) + return -ENOMEM; + + for (i = 0; i < m4->num_mems; i++) { + m4->mem[i].bus_addr = dev_read_addr_size_name(dev, + am6_m4_mems[i].name, + (fdt_addr_t *)&m4->mem[i].size); + if (m4->mem[i].bus_addr == FDT_ADDR_T_NONE) { + dev_err(dev, "%s bus address not found\n", + am6_m4_mems[i].name); + return -EINVAL; + } + m4->mem[i].cpu_addr = map_physmem(m4->mem[i].bus_addr, + m4->mem[i].size, + MAP_NOCACHE); + m4->mem[i].dev_addr = am6_m4_mems[i].dev_addr; + } + + return 0; +} + +/** + * k3_of_to_priv() - generate private data from device tree + * @dev: corresponding k3 m4 processor device + * @m4: pointer to driver specific private data + * + * Return: 0 if all goes good, else appropriate error message. + */ +static int k3_m4_of_to_priv(struct udevice *dev, struct k3_m4_privdata *m4) +{ + int ret; + + ret = reset_get_by_index(dev, 0, &m4->m4_rst); + if (ret) { + dev_err(dev, "reset_get() failed: %d\n", ret); + return ret; + } + + ret = ti_sci_proc_of_to_priv(dev, &m4->tsp); + if (ret) + return ret; + + ret = k3_m4_of_get_memories(dev); + if (ret) + return ret; + + m4->data = (struct k3_m4_boot_data *)dev_get_driver_data(dev); + + return 0; +} + +/** + * k3_m4_probe() - Basic probe + * @dev: corresponding k3 remote processor device + * + * Return: 0 if all goes good, else appropriate error message. + */ +static int k3_m4_probe(struct udevice *dev) +{ + struct k3_m4_privdata *m4; + int ret; + + m4 = dev_get_priv(dev); + ret = k3_m4_of_to_priv(dev, m4); + if (ret) + return ret; + + /* + * The M4 local resets are deasserted by default on Power-On-Reset. + * Assert the local resets to ensure the M4s don't execute bogus code + * in .load() callback when the module reset is released to support + * internal memory loading. This is needed for M4 cores. + */ + reset_assert(&m4->m4_rst); + + return 0; +} + +static int k3_m4_remove(struct udevice *dev) +{ + struct k3_m4_privdata *m4 = dev_get_priv(dev); + + free(m4->mem); + + return 0; +} + +static const struct k3_m4_boot_data m4_data = { + .boot_align_addr = SZ_1K, + .uses_lreset = true, +}; + +static const struct udevice_id k3_m4_ids[] = { + { .compatible = "ti,am64-m4fss", .data = (ulong)&m4_data, }, + {} +}; + +U_BOOT_DRIVER(k3_m4) = { + .name = "k3_m4", + .of_match = k3_m4_ids, + .id = UCLASS_REMOTEPROC, + .ops = &k3_m4_ops, + .probe = k3_m4_probe, + .remove = k3_m4_remove, + .priv_auto = sizeof(struct k3_m4_privdata), +};

From: Hari Nagalla hnagalla@ti.com

Set remote proc FW binaries for u-boot loading of remote cores.

Signed-off-by: Hari Nagalla hnagalla@ti.com --- board/ti/am64x/am64x.env | 6 ++++++ 1 file changed, 6 insertions(+)

diff --git a/board/ti/am64x/am64x.env b/board/ti/am64x/am64x.env index 8ad805a613c..43e557b8ec7 100644 --- a/board/ti/am64x/am64x.env +++ b/board/ti/am64x/am64x.env @@ -2,6 +2,10 @@ #include <env/ti/mmc.env> #include <env/ti/k3_dfu.env>

+#if CONFIG_CMD_REMOTEPROC +#include <env/ti/k3_rproc.env> +#endif + name_kern=Image console=ttyS2,115200n8 args_all=setenv optargs earlycon=ns16550a,mmio32,0x02800000 ${mtdparts} @@ -14,6 +18,8 @@ bootpart=1:2 bootdir=/boot rd_spec=-

+rproc_fw_binaries= 0 /lib/firmware/am64-mcu-m4f0_0-fw 1 /lib/firmware/am64-main-r5f0_0-fw 2 /lib/firmware/am64-main-r5f0_1-fw 3 /lib/firmware/am64-main-r5f1_0-fw 4 /lib/firmware/am64-main-r5f1_1-fw + args_usb=run finduuid;setenv bootargs console=${console} ${optargs} root=PARTUUID=${uuid} rw